Unmanned aerial vehicle (UAV) networks are playing an important role in various areas due to their agility and versatility, which have attracted significant attentions from both the academia and industry in recent years. As an integration of embedded systems with communication devices, computation capabilities and control modules, the UAV network could build a closed loop from data perceiving, information exchanging, decision making to the final execution, which tightly integrates cyber processes into physical devices. Therefore, the UAV network could be considered as a cyber physical system (CPS). Revealing coupling effects among the three interacted CPS components, i.e., communication, computation and control, is envisioned as the key to properly utilize all available resources and hence improve the performance of the UAV network. In this paper, we present a comprehensive survey on UAV networks from a CPS perspective. Firstly, we review the basics and advances of the three CPS components in UAV networks. Then we look inside to investigate how these components contribute to the system performance by classifying UAV networks into three hierarchies, i.e., cell level, system level, and system of system level. Furthermore, the coupling effects among these CPS components are explicitly illustrated, which could be enlightening to deal with the challenges in each individual aspect. New research directions and open issues are discussed at the end of this survey. With this intensive literature review, we intend to provide a novel insight into the state of the art in UAV networks.

Exploiting unmanned aerial vehicles (UAVs) as flying base stations (BSs) to assist the terrestrial cellular networks is promising in 5G and beyond. Despite the inherent potentials, one challenging problem is how to optimally deploy multiple UAVs to achieve on-demand coverage for ground user equipment (UE). In this paper, we model the deployment problem as minimizing the number of UAVs and maximizing the load balance among them, which is subject to two main constraints, i.e., UAVs should form a robust backbone network and they should keep connected with the fixed BSs. To solve this optimization problem with low complexity, we decompose the problem into two subproblems and propose a hybrid algorithm to solve them stepwise. First, a centralized greedy search algorithm is used to heuristically obtain the minimum number of UAVs and their suboptimal positions in a dis-continuous space. Then, a distributed motion algorithm is adopted which enables each UAV to autonomously control its motion towards the optimal position in a continuous space. The proposed algorithm is applicable to various scenarios where UAVs are deployed alone or with fixed BSs regardless of the UE distribution. Extensive simulations validate the proposed algorithm.

Devices in the Internet of Things (IoT) are usually limited in computing resources and energy capacity, which means that encryption schemes with higher complexity are not suitable for them to ensure secure communication. As a promising solution to this problem, physical layer key generation suggests that shared secret keys can be generated from noisy wireless channel measurements to enhance the security of wireless communications. In this article, we propose a key generation scheme with extremely low implementation complexity, which allows physical layer key generation to be implemented on IoT nodes. First, we preprocess the channel measurements with simple moving average filtering before quantization to improve channel reciprocity. Next, a bidirectional difference quantization scheme is proposed to realize reliable quantization of channel measurements, which is ingenious in that the quantization process does not depend on quantization thresholds, and thus, the mismatched key bits caused by measurements close to quantization thresholds can be effectively avoided. Then, we propose an improved Cascade protocol to achieve lightweight and efficient information reconciliation. The simulation results show that our scheme can well balance the reliability and efficiency of key generation, and has excellent performance in terms of implementation complexity and key randomness.

With innovative applications of unmanned aerial vehicle (UAV) ad hoc networks in various areas, their demands on broad bandwidth, large capacity and low latency become prominent. The combination of millimeter wave, directional antenna and time division multiple access techniques, which enables concurrent transmissions, is promising to deal with it. In this paper, we study the resource allocation problem in UAV ad hoc networks. Specifically, the slot assignment, antenna boresight and transmit power are jointly optimized to promote the network capacity. First, we formulate the optimization problem as the maximization of the fairness-weighted network capacity, subject to the constraint on priority guarantee. Then, because the formulated problem is a mixed integer non-linear programming problem (MINLP), which is NP-hard, two algorithms called dual-based iterative search algorithm (DISA) and sequential exhausted allocation algorithm (SEAA) are respectively proposed to efficiently solve it with acceptable complexity. DISA slacks the MINLP into a continuous-variable optimization problem and solves it with the Lagrangian dual method in an iterative manner. As a heuristic method, SEAA schedules links sequentially, i.e., from high-priority to low-priority ones. Numerical results demonstrate that both DISA and SEAA can efficiently allocate resources for UAVs, while guaranteeing the fairness and priority of links.

Multiple-input multiple-output orthogonal frequency-division multiplexing (MIMO-OFDM) is a key technology component in the evolution towards cognitive radio (CR) in next-generation communication in which the accuracy of timing and frequency synchronization significantly impacts the overall system performance. In this paper, we propose a novel scheme leveraging extreme learning machine (ELM) to achieve high-precision synchronization. Specifically, exploiting the preamble signals with synchronization offsets, two ELMs are incorporated into a traditional MIMO-OFDM system to estimate both the residual symbol timing offset (RSTO) and the residual carrier frequency offset (RCFO). The simulation results show that the performance of the proposed ELM-based synchronization scheme is superior to the traditional method under both additive white Gaussian noise (AWGN) and frequency selective fading channels. Furthermore, comparing with the existing machine learning based techniques, the proposed method shows outstanding performance without the requirement of perfect channel state information (CSI) and prohibitive computational complexity. Finally, the proposed method is robust in terms of the choice of channel parameters (e.g., number of paths) and also in terms of “generalization ability” from a machine learning standpoint.

This letter addresses the problem of beamforming design for an amplify-and-forward (AF) based two-way relaying network (TWRN) which consists of two terminal nodes and several relay nodes. Considering a two-time-slot relaying scheme, we design the optimal beamforming coefficients to maximize the sum-rate of AF-based TWRN under total relay power constraint (TRPC). Although the optimization problem is neither convex nor concave, we show that the global optimal solution can be obtained by the branch-and-bound algorithm. To address the computational complexity concern, we also propose a low-complexity suboptimal solution which is obtained by optimizing a cost function over one real variable only. Simulation results show that the proposed optimal solution outperforms existing schemes significantly. Moreover, we show that the suboptimal solution only suffers small sum-rate losses compared to the optimal solution.